[Emc-users] Can't get XHC-HB04 MPG to work

[Danny Miller]

It's loading without error.   The LCD works, the handwheel does jog the 
axes, and the selector knob does change the axes.  But none of the 
buttons function, including the Step Size, so it's stuck moving by 0.001".


I have LinuxCNC 2.7.4  and the Linux Preempt-RTK.  I did what was 
specified about adding USB permissions.


So 7i92_general_XHC20.ini is the main ini file. I added a 
[XHC_HB04_CONFIG] section which gives setup parameters. I added HALFILE 
= xhc-hb20.hal to the [HAL] section.


xhc-hb20.hal is a renamed copy of a modified xhc-hb04.hal. The homing 
routines don't exist, nor does an A-axis, so that's removed. Loadusr got 
changed to the local name "loadusr -W xhc-hb04 -I xhc-hb04-layout20.ini -H"


xhc-hb04-layout20.ini has layout2.inc added into it directly. For 
whatever reason layout2.inc didn't seem to be loading correctly into it 
so I just added it.


The HAL viewer does show there's an XHC section.  However (I'm not in 
front of the machine now) IIRC the halui.mdi-command-01 etc didn't seem 
to exist under halui.  I found what should have been the STEP++ pin  but 
it didn't show TRUE when I pressed it.  But I'm not sure how that works, 
if it's a momentary press and I just manually reload the HAL status I 
would probably never catch it.


Thanks,
Danny


[HOSTMOT2]
DRIVER=hm2_eth board_ip="10.10.10.10" 
# DRIVER=hm2_eth board_ip="10.10.10.10" debug=1
BOARD=7i92
CONFIG="num_encoders=0 num_stepgens=4 sserial_port_0=20xx"




[EMC]

# Name of machine, for use with display, etc.
MACHINE =   HM2-Stepper

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =0x0003
#DEBUG =0x0007
DEBUG = 0




[DISPLAY]

# Name of display program, e.g., tkemc
#DISPLAY =   tkemc
DISPLAY =  axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =0.100

# Path to help file
HELP_FILE = tkemc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =   RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 30

# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME =5


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK =  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =hm2-stepper.var




[EMCMOT]

EMCMOT =motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =  1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

# Servo task period, in nanoseconds
SERVO_PERIOD =  100




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALUI=halui


HALFILE =   7i92_general.hal
HALFILE = xhc-hb20.hal
#HALFILE = LIB:xhc-hb04.tcl
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =   save neta




[TRAJ]

AXES =  3
COORDINATES =   X Y Z
#HOME =  0 0 0
LINEAR_UNITS =  inch
ANGULAR_UNITS = degree
CYCLE_TIME =0.001

 
DEFAULT_VELOCITY = 30
#In machines with nontrivial kinematics, the acceleration used for "teleop" 
(Cartesian space) jogs, in machine units per second per second.
DEFAULT_ACCELERATION = 60  
MAX_VELOCITY = 30
MAX_ACCELERATION = 60.0 


[AXIS_0]

# 
# Step timing is 1 us steplen + 1 us stepspace
# That gives 2 us step period = 500 KHz max step freq
#
#
# Scale is 2000 steps/rev * 5 revs/inch = 1 steps/inch
#
# This gives a maxvel of 25/1 = 50 ips
#


TYPE =  LINEAR
MAX_VELOCITY =   15
MAX_ACCELERATION =   50
MAX_JERK =   2000
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =21
STEPGEN_MAX_ACC =96

BACKLASH =   0.000

SCALE =1736.236364

MIN_LIMIT = -50.0
MAX_LIMIT = 98.0

FERROR =.0002
MIN_FERROR = .0001


#HOME =  0.000
#HOME_OFFSET =   0.10
#HOME_SEARCH_VEL =   0.10
#HOME_LATCH_VEL =-0.01
#HOME_USE_INDEX =YES
#HOME_IGNORE_LIMITS =YES

# these are in nanoseconds
DIRSETUP   =  6000
DIRHOLD=  6000
STEPLEN=  8000
STEPSPACE  =  8000

# PID tuning params
DEADBAND =  0
P =   

[Emc-users] Question on DM860 stepper drivers

[Gene Heskett]

Greetings;

One of the things I am noticing, when running this crippled Z drive at 
various speeds, is that up to about 3/4 rps at its shaft, it moves dead 
silently, but by 2 rps, its rattling tools off the table, exactly as if 
is was being full stepped, and it doesn't become at all smooth again 
until its moving the head at 25 ipm or more, then stalls at just under 
48 ipm.

2 related questions then;

This is a DM860 drive.  It it known to drop the microstepping at an 
unusually low rps?

I'm looking at the DQ2722MA, 110-220VAC, 7.0A, 200 Microstep, driver/psu 
combined, which is 110-250 volt AC powered, which would remove the 350 
watter doing that job now, but its close to $185 in a box on my front 
deck. So by the time I get the 906 oz motor Greg B. recommends, and hang 
some counterweighting springs on this thing I'll have close to $300 USD 
in solving this problem once and for all.

What say you folks?  Will this truly solve it?

Thank you all.

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Re: [Emc-users] EMC_TRAJ_SET TELEOP_ENABLE EMC_TASK_PLAN_RUN and machining stops

[andy pugh]

On 19 April 2016 at 16:27, Axel Zöllich  wrote:
> Suddenly (after one year with 2.6) i've got warnings like this:
>
> can't do that (EMC_TASK_PLAN_RUN( in auto mode with interpreter reading
> can't do that (EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the interpreter
> waiting

This sounds like it could be a noisy input from something that tries
to alter machine state. For example something trying to switch to
manual mode when G-code is running.

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916

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[Emc-users] EMC_TRAJ_SET TELEOP_ENABLE EMC_TASK_PLAN_RUN and machining stops

[Axel Zöllich]

Suddenly (after one year with 2.6) i've got warnings like this:

can't do that (EMC_TASK_PLAN_RUN( in auto mode with interpreter reading
can't do that (EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the interpreter 
waiting

(
EMC_TRAJ_SET TELEOP_ENABLE kann im automatischen Modus nicht ausgeführt 
werden, wenn der interpreter stillsteht
EMC_TASK_PALN_RUN kann im automatischen Modus nicht ausgeführt werden, wenn 
der interpreter liest
)

and the machining stops. No button is pressed when this happens.

I got this with various g-code files from different CAMs. But it doesn't 
happen always. Sometimes the machine is running without problems.


Axel

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